#ifndef VISUALKUKAROBOTINSTANCE_GLOBAL_H
#define VISUALKUKAROBOTINSTANCE_GLOBAL_H

#include <QtCore/qglobal.h>
#include <QWidget>

#if defined(VISUALKUKAROBOTINSTANCE_LIBRARY)
#  define VISUALKUKAROBOTINSTANCESHARED_EXPORT Q_DECL_EXPORT
#else
#  define VISUALKUKAROBOTINSTANCESHARED_EXPORT Q_DECL_IMPORT
#endif


#define LOCALCONTOLLER 1
#define REMOTEHMI 2
/*****************************************************************************************************************/
VISUALKUKAROBOTINSTANCESHARED_EXPORT short    PLU_KPluginInstanceCreate(short Local_Remote);
VISUALKUKAROBOTINSTANCESHARED_EXPORT short    PLU_KPluginInstanceDelete();
VISUALKUKAROBOTINSTANCESHARED_EXPORT bool     PLU_KPluginInstanceExists();
VISUALKUKAROBOTINSTANCESHARED_EXPORT QWidget* PLU_KPluginInstanceUiRegesiter();
/*****************************************************************************************************************/

VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_kukaloop_KUKADataProcess();
/*****************************************************************************************************************/
//VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_uifast_DataSave();                         //数据保存

VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_uifast_UiDataUpdate();                     //ui状态键界面更新
VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_uifast_ForceScopeUpdate();                 //力曲线刷新
VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_uifast_LaserScopeUpdate();                 //力曲线刷新
VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_uifast_RobotScopeUpdate();                 //机器人关节数据刷新

VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_maininit_ForceSensorConnect();             //连接力传感器
VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_maininit_LaserSensorConnect();

VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_mainloop_LaserSensorLoopRun();
VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_mainloop_ForceSensorLoopRun();          //力传感器循环任务

VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_RemoteDataRecv(QByteArray Data);
VISUALKUKAROBOTINSTANCESHARED_EXPORT void TASK_RemoteDataSend(QByteArray& Data);

#endif // VISUALKUKAROBOTINSTANCE_GLOBAL_H
